File content as of revision 2:72952132894a:

#include "mbed.h"
#include "stdio.h"

//DigitalOut led(LED1);

Serial pc(USBTX, USBRX);
DigitalIn my_button(USER_BUTTON); // Use the user button to switch from dc motor to servo motor and vice versa
DigitalIn end_stop(A5); // relais fin de course

PwmOut l1_dc_motor_cw(D2);
PwmOut l1_dc_motor_ccw(D3);
DigitalOut l1_servo_cw(D4);
DigitalOut l1_servo_ccw(D5);
PwmOut l2_dc_motor_cw(D6);
PwmOut l2_dc_motor_ccw(D7);
DigitalOut l2_servo_cw(D8);
DigitalOut l2_servo_ccw(D9);
PwmOut l3_dc_motor_cw(D10);
PwmOut l3_dc_motor_ccw(D11);
DigitalOut l3_servo_cw(D12);
DigitalOut l3_servo_ccw(D13);

void run_l1_dc_motor_cw(void){
    l1_dc_motor_cw.period_ms(20);
    l1_dc_motor_cw.pulsewidth_us(4000);
}
void run_l1_dc_motor_ccw(void){
    l1_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l1_dc_motor_ccw.pulsewidth_us(5000);
}
void run_l2_dc_motor_cw(void){
    l2_dc_motor_cw.period_ms(20);
    l2_dc_motor_cw.pulsewidth_us(20000);
}
void run_l2_dc_motor_ccw(void){
    l2_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l2_dc_motor_ccw.pulsewidth_us(20000);
}
void run_l3_dc_motor_cw(void){
//    l3_dc_motor_cw.period_ms(20);
//    l3_dc_motor_cw.pulsewidth_us(10000);
}
void run_l3_dc_motor_ccw(void){
    l3_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l3_dc_motor_ccw.pulsewidth_us(10000);
}
void stop_dc_motor(void){
    l1_dc_motor_cw.pulsewidth_us(0);
    l1_dc_motor_ccw.pulsewidth_us(0);
    l2_dc_motor_cw.pulsewidth_us(0);
    l2_dc_motor_ccw.pulsewidth_us(0);
    l3_dc_motor_cw.pulsewidth_us(0);
    l3_dc_motor_ccw.pulsewidth_us(0);
}
void run_l1_servo_cw(void){
    l1_servo_cw=1;
    l1_servo_ccw=0;
}
void run_l1_servo_ccw(void){
    l1_servo_cw=0;
    l1_servo_ccw=1;
}
void run_l2_servo_cw(void){
//    l2_servo_cw=1;
//  l2_servo_ccw=0;
}
void run_l2_servo_ccw(void){
    l2_servo_cw=0;
    l2_servo_ccw=1;
}
void run_l3_servo_cw(void){
    l3_servo_cw=1;
    l3_servo_ccw=0;
}
void run_l3_servo_ccw(void){
    l3_servo_cw=0;
    l3_servo_ccw=1;
}
void stop_servo(void){
    l1_servo_cw=0;
    l1_servo_ccw=0;
    l2_servo_cw=0;
    l2_servo_ccw=0;
    l3_servo_cw=0;
    l3_servo_ccw=0;
}
void test_limite(void){
    end_stop.mode(PullDown);
    while(1){
        printf("lim=%d\n", end_stop.read());

        if(end_stop.read()==1){
            stop_dc_motor();
//            led=0;
            printf("stop_dc_motor\n");
        }
        else{
            run_l2_dc_motor_ccw();
            printf("motor runs\n");
//            led=1;
        }
    }
    
}
int main()
{
    printf("Hello World !\n");
    run_l1_dc_motor_cw();
    wait_ms(2500);
    stop_dc_motor();
    run_l1_servo_cw();
    wait_ms(2000);
    stop_servo();
    run_l2_dc_motor_ccw();
    wait_ms(1500);
    stop_dc_motor();
    run_l2_servo_ccw();
    wait_ms(1000);
    stop_servo();
    run_l2_dc_motor_cw();
    wait_ms(1500);
    stop_dc_motor();
    run_l1_dc_motor_cw();
    wait_ms(2500);
    stop_dc_motor();
    run_l1_servo_ccw();
    wait_ms(2000);
    stop_servo();
    run_l3_dc_motor_ccw();
    wait_ms(3000);
    stop_dc_motor();
    
    
}